Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. A force-reflective master robotic brake joint assembly for translating a force at a slave robotic system to a master robotic system, comprising: a first braking component associated with a first robotic link of a master robotic system, the first braking component comprising a pair of upper compression disks and a pair of lower compression disks; a second braking component associated with a second robotic link of the master robotic system, the second braking component comprising an upper compression disk disposed between the pair of upper compression disks and a lower compression disk disposed between the pair of lower compression disks, wherein the second braking component is configured to rotate relative to the first braking component; and an actuator disposed between the pair of upper compression disks and the pair of lower compression disks and configured to act upon the first braking component and the second braking component to generate a braking force between the first braking component and the second braking component in response to a control signal corresponding to a force sensed by a slave robotic system.
2. The force-reflective master robotic brake joint assembly of claim 1 , wherein the braking force is variable.
A force-reflective master robotic brake joint assembly is designed for robotic systems requiring precise control and force feedback. The assembly includes a braking mechanism that applies a variable braking force to a joint, allowing for adjustable resistance and force reflection. This variability enables dynamic adjustment of the braking force based on operational requirements, such as simulating different environmental conditions or user interactions. The braking mechanism may incorporate actuators, sensors, or control systems to modulate the force applied to the joint, ensuring accurate force feedback to the operator or system. The assembly is particularly useful in applications where force reflection is critical, such as teleoperated robotic systems, haptic feedback devices, or robotic training simulators. By providing variable braking force, the assembly enhances the realism and responsiveness of the robotic system, improving user control and interaction. The design ensures that the braking force can be precisely adjusted in real-time, adapting to changing conditions or user inputs. This variability allows the system to simulate a wide range of forces, from light resistance to high-force braking, depending on the application. The assembly may also include feedback mechanisms to monitor and adjust the braking force dynamically, ensuring consistent performance. Overall, the force-reflective master robotic brake joint assembly with variable braking force improves the functionality and versatility of robotic systems in various industries.
3. The force-reflective master robotic brake joint assembly of claim 1 , wherein the braking force is non-variable.
A force-reflective master robotic brake joint assembly is designed for robotic systems requiring precise control and feedback of joint movement. The assembly addresses the challenge of ensuring consistent and reliable braking force in robotic joints, which is critical for tasks requiring high precision, such as surgical robots, industrial manipulators, or exoskeletons. The assembly includes a braking mechanism that applies a non-variable braking force to a joint, meaning the force remains constant regardless of external conditions or joint position. This ensures predictable and stable performance, reducing the risk of unintended movement or slippage. The non-variable braking force is particularly useful in applications where consistent resistance is required, such as in haptic feedback systems or force-reflective teleoperation, where the operator needs accurate tactile feedback. The assembly may also include sensors to monitor joint position or force, ensuring the braking mechanism operates within desired parameters. By maintaining a fixed braking force, the system simplifies control algorithms and enhances reliability, making it suitable for environments where precision and safety are paramount.
4. The force-reflective master robotic brake joint assembly of claim 1 , wherein a magnitude of the braking force is variable, and a proportionality of the braking force to the sensed force is dynamically controllable.
A force-reflective master robotic brake joint assembly is designed to provide adjustable resistance in robotic systems, particularly for master-slave teleoperation or haptic feedback applications. The assembly includes a braking mechanism that applies a variable braking force to a joint, allowing controlled resistance to movement. The braking force is dynamically adjustable based on a sensed force, enabling precise force feedback to the operator. The proportionality between the braking force and the sensed force can be modified in real-time, allowing the system to adapt to different operational conditions or user preferences. This dynamic control enhances the accuracy and responsiveness of force feedback, improving the overall performance of robotic systems in tasks requiring fine motor control or tactile interaction. The assembly ensures that the applied braking force is proportional to the sensed force, with the ability to adjust the magnitude and proportionality as needed, providing a versatile solution for force-reflective robotic applications.
5. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator comprises a bi-directional actuator having a actuator and an actuation member, wherein the actuator is configured to rotate the actuation member to apply a bi-directional force to at least one of the first braking component or the second braking component to generate the braking force.
This invention relates to a force-reflective master robotic brake joint assembly designed to provide precise and responsive braking in robotic systems. The assembly addresses the challenge of achieving accurate force feedback in robotic joints, particularly in applications requiring controlled braking and haptic feedback. The system includes a bi-directional actuator with an actuator and an actuation member. The actuator is configured to rotate the actuation member, which in turn applies a bi-directional force to either a first braking component or a second braking component. This interaction generates a braking force that can be precisely controlled in both directions, enabling smooth and responsive braking operations. The bi-directional capability allows the system to apply force in opposing directions, enhancing versatility in robotic joint control. The assembly ensures that the braking force is accurately transmitted, providing reliable force feedback for the operator or control system. This design is particularly useful in robotic systems requiring high precision, such as industrial automation, medical robotics, or teleoperated devices, where controlled braking and force reflection are critical for performance and safety.
6. The force-reflective master robotic brake joint assembly of claim 5 , wherein the actuation member comprises a rigid body having oppositely extending arms, a first roller rotatably coupled to one of the arms, and a second roller rotatably coupled to the other of the arms, the rollers being configured to reduce friction between the actuation member and the first braking component and the second braking component.
This invention relates to a force-reflective master robotic brake joint assembly designed to provide precise and low-friction braking in robotic systems. The assembly addresses the problem of friction and wear in braking mechanisms, which can degrade performance and accuracy in robotic joints. The key innovation involves an actuation member with a rigid body featuring two oppositely extending arms. Each arm is equipped with a rotatably coupled roller, allowing the actuation member to interface with two braking components while minimizing friction. The rollers reduce resistance during engagement, ensuring smooth and efficient braking action. This design enhances the durability and responsiveness of the braking system, making it suitable for applications requiring high precision and reliability, such as industrial robotics and automated machinery. The use of rollers instead of direct contact surfaces mitigates wear and tear, extending the lifespan of the assembly. The rigid body ensures structural integrity, while the rotational freedom of the rollers allows for adaptable engagement with the braking components, accommodating variations in alignment and load. This configuration improves force feedback, enabling more accurate control in robotic operations.
7. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator comprises a dielectric actuator configured to generate the braking force, wherein the dielectric actuator comprises a dielectric material disposed between a pair of electrodes coupled to a voltage source.
A force-reflective master robotic brake joint assembly is designed to provide precise and responsive braking in robotic systems, particularly for master-slave teleoperation or haptic feedback applications. The assembly addresses the challenge of accurately simulating resistance or braking forces in robotic joints, which is critical for tasks requiring fine motor control or force feedback. The braking force is generated by a dielectric actuator, which uses a dielectric material sandwiched between two electrodes connected to a voltage source. When a voltage is applied, the dielectric material deforms, creating a controllable braking force. This actuator design allows for rapid response times and high precision, enabling the system to simulate a wide range of resistive forces. The assembly integrates this actuator into a robotic joint, ensuring that the braking force is applied directly to the joint mechanism, providing realistic force feedback to the operator. The dielectric actuator's compact and lightweight nature makes it suitable for integration into small or complex robotic systems where traditional braking mechanisms may be impractical. This technology enhances the performance of robotic systems in applications such as medical robotics, industrial automation, and virtual reality simulations, where accurate force feedback is essential.
8. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator comprises a piezoelectric actuator configured to generate the braking force, wherein the piezoelectric actuator comprises a stack of piezoelectric components configured to be coupled to a voltage source configured to displace the stack of piezoelectric components.
This invention relates to a force-reflective master robotic brake joint assembly designed for robotic systems, particularly those requiring precise force feedback and braking control. The assembly addresses the challenge of achieving accurate, responsive braking in robotic joints while maintaining force reflection capabilities, which are essential for tasks requiring human-like dexterity and control. The assembly includes a piezoelectric actuator that generates braking force through a stack of piezoelectric components. These components are coupled to a voltage source, which applies an electrical signal to induce mechanical displacement in the stack. This displacement translates into a braking force applied to the robotic joint, allowing for precise control over movement and resistance. The piezoelectric actuator's rapid response and fine-tuned force generation enhance the system's ability to simulate realistic resistance, making it suitable for applications like teleoperation, where force feedback is critical. The design ensures that the braking force is both controllable and reflective, meaning the system can accurately convey the forces experienced by the robotic joint back to the operator or control system. This is particularly useful in environments where safety and precision are paramount, such as medical robotics, industrial automation, or remote-controlled systems. The use of piezoelectric components allows for high-resolution force modulation, enabling the assembly to handle dynamic loads with minimal latency.
9. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator comprises a fluid actuator configured to generate the braking force, wherein the fluid actuator comprises a fluid actuation component and at least one piston fluidly coupled to the fluid actuation component, wherein the fluid actuation component is positioned distally from the at least one piston and is configured to actuate the at least one piston to generate the braking force.
This invention relates to a force-reflective master robotic brake joint assembly designed for robotic systems, particularly those requiring precise control and feedback of braking forces. The assembly addresses the challenge of accurately simulating resistance or braking forces in robotic joints, which is critical for applications like teleoperation or haptic feedback systems where the operator needs to feel the forces applied by the robot. The assembly includes a fluid actuator that generates the braking force. The fluid actuator consists of a fluid actuation component and at least one piston fluidly coupled to it. The fluid actuation component is positioned away from the piston and is responsible for actuating the piston to produce the desired braking force. This design allows for controlled and adjustable braking forces, ensuring that the operator receives accurate force feedback. The fluid-based actuation provides smooth and responsive force generation, which is essential for realistic force reflection in robotic systems. The system can be integrated into robotic joints to enhance their performance in tasks requiring precise force control and feedback.
10. The force-reflective master robotic brake joint assembly of claim 1 , wherein the first braking component and the second braking component comprise an interleaved multi-disk configuration compressible to generate the braking force.
A force-reflective master robotic brake joint assembly is designed for robotic systems requiring precise control and force feedback. The assembly addresses the challenge of achieving accurate braking and force reflection in robotic joints, which is critical for tasks requiring high precision, such as surgical robots or industrial automation. The assembly includes a first braking component and a second braking component arranged in an interleaved multi-disk configuration. This design allows the disks to compress against each other, generating a braking force that can be precisely controlled. The interleaved arrangement ensures uniform contact and efficient force distribution, enhancing braking performance and durability. The braking force can be adjusted dynamically to match the required resistance, providing realistic force feedback to the operator. This configuration is particularly useful in master-slave robotic systems where the operator's input must be accurately mirrored by the robotic joint. The assembly may also include additional components, such as actuators or sensors, to further refine the braking and force-reflection capabilities. The overall system ensures smooth, responsive, and reliable operation in demanding robotic applications.
11. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator comprises a first biasing component and an opposing second biasing component, the first biasing component selectively biasing an inner disk of the pair of upper compression disks and the second biasing component selectively biasing an opposing inner disk of the pair of lower compression disks.
This invention relates to a force-reflective master robotic brake joint assembly designed to provide precise and responsive force feedback in robotic systems, particularly for applications requiring high-fidelity tactile interaction. The assembly addresses the challenge of accurately simulating resistance and braking forces in robotic joints, ensuring that operators receive realistic haptic feedback during teleoperation or automated tasks. The assembly includes an actuator with two opposing biasing components. The first biasing component selectively applies force to an inner disk of a pair of upper compression disks, while the second biasing component applies force to an opposing inner disk of a pair of lower compression disks. These biasing components work in tandem to generate controlled compression forces between the disks, enabling dynamic adjustment of braking resistance. The system ensures that the applied forces are proportional to the desired braking effect, enhancing the precision and responsiveness of the robotic joint. The design allows for independent control of the upper and lower compression disks, enabling fine-tuned force modulation. This configuration improves the assembly's ability to simulate varying levels of resistance, making it suitable for applications such as surgical robots, industrial automation, and virtual reality haptic interfaces. The use of biasing components ensures smooth and consistent force application, reducing mechanical wear and improving durability.
12. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator is attached to a support portion of the first braking component between the pairs of upper and lower compression disks.
A robotic brake joint assembly provides force-reflective braking in robotic systems, particularly for applications requiring precise control and haptic feedback. The assembly includes a first braking component with upper and lower compression disks, a second braking component, and an actuator. The actuator is positioned between the pairs of upper and lower compression disks on a support portion of the first braking component. When activated, the actuator applies a braking force between the first and second braking components, allowing controlled resistance or locking of the joint. The compression disks enhance friction and force distribution, ensuring smooth and responsive braking. This design enables force feedback, allowing the robotic system to simulate resistance or simulate external forces, which is useful in teleoperation, rehabilitation robotics, or industrial automation where precise control and user feedback are critical. The actuator's placement between the compression disks optimizes force transmission and minimizes mechanical complexity. The assembly may also include sensors to monitor braking force or joint position, further improving control accuracy. This invention addresses the need for compact, high-performance braking mechanisms in robotic joints that provide both mechanical locking and force-reflective capabilities.
13. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator is positioned between the pairs of upper and lower compression disks.
A force-reflective master robotic brake joint assembly is designed for robotic systems requiring precise force feedback and braking control. The assembly includes an actuator positioned between pairs of upper and lower compression disks. These disks are configured to engage and disengage with each other to apply or release braking force on a joint, allowing controlled movement and force reflection. The actuator adjusts the compression between the disks, enabling variable braking force based on system requirements. This design ensures accurate force feedback to the operator, enhancing control and responsiveness in robotic applications. The assembly may also include a housing to support the disks and actuator, along with sensors to monitor force and position. The system is particularly useful in master-slave robotic systems where force reflection is critical for tasks requiring high precision, such as surgical robots or industrial manipulators. The actuator's placement between the disks optimizes force transmission and reduces mechanical complexity, improving reliability and performance.
14. The force-reflective master robotic brake joint assembly of claim 1 , wherein the actuator comprises a cam member fixedly attached to an actuator shaft, the cam member comprising a cam having an eccentric configuration configured to convert rotational motion in the cam member to translation motion within the first braking component and the second braking component, thereby compressing the first braking component and the second braking component together.
This invention relates to a force-reflective master robotic brake joint assembly designed to provide precise control and feedback in robotic systems, particularly for applications requiring high-fidelity force reflection, such as teleoperated robotic devices. The assembly addresses the challenge of accurately transmitting and reflecting forces between a master control system and a robotic joint, ensuring smooth and responsive operation. The assembly includes an actuator with a cam member fixed to an actuator shaft. The cam member features a cam with an eccentric configuration, meaning its center of rotation is offset from its geometric center. As the actuator shaft rotates, the eccentric cam converts this rotational motion into translational motion. This motion is applied to a first braking component and a second braking component, pressing them together to generate braking force. The design ensures that the braking force is proportional to the rotational input, allowing for precise control and force feedback. The braking components are arranged to engage and disengage based on the cam's position, enabling adjustable braking force. The eccentric cam's geometry ensures smooth and consistent force application, reducing wear and improving reliability. This mechanism is particularly useful in robotic systems where accurate force reflection and responsive braking are critical, such as in surgical robots, industrial manipulators, or haptic feedback devices. The assembly enhances performance by providing a compact, efficient, and durable solution for force-reflective braking in robotic joints.
15. The force-reflective master robotic brake joint assembly of claim 1 , further comprising a processor facilitating processing of the control signal.
A force-reflective master robotic brake joint assembly is designed for robotic systems requiring precise force feedback and control, particularly in applications like teleoperation or haptic interfaces. The assembly includes a brake mechanism that can apply and release force on a joint to simulate resistance or movement, allowing a user to feel physical feedback from a remote or virtual environment. The brake mechanism is integrated with a control system that generates and processes control signals to adjust the braking force dynamically. A processor is included to facilitate the processing of these control signals, enabling real-time adjustments based on sensor inputs or user interactions. The assembly ensures that the force applied to the joint is accurately reflected back to the user, enhancing the realism and responsiveness of the robotic system. This technology addresses the need for high-fidelity force feedback in robotic applications, improving user control and interaction in tasks requiring tactile precision. The processor enhances the system's ability to interpret and respond to control signals, ensuring smooth and accurate force modulation. The assembly is particularly useful in medical robotics, industrial automation, and virtual reality systems where force feedback is critical.
16. A force-reflective robotic system for translating a force of a slave robotic system to a master robotic system, comprising: a slave robotic system comprising a plurality of slave joints; and a master robotic system having a plurality of master brake joints, each corresponding to a respective one of the slave joints controllable by the master robotic system, wherein each master brake joint comprises a first braking component comprising an upper pair of compression disks and a lower pair of lower compression disks, and a second braking component comprising an upper compression disk situated between the upper pair of compression disks, and a lower compression disk situated between the lower pair of compression disks, the compression disks of the first braking component being rotatable relative to the disks of the second braking component, and an actuator disposed between the upper and lower pairs of compression disks of the first braking component, and configured to act on these to compress each of the upper and lower compression disks of the second braking component to generate a braking force in response to a control signal corresponding to a force sensed by the slave robotic system.
The force-reflective robotic system translates forces from a slave robotic system to a master robotic system, enabling haptic feedback for teleoperation. The system includes a slave robotic system with multiple slave joints and a master robotic system with corresponding master brake joints. Each master brake joint consists of two braking components. The first braking component has an upper pair of compression disks and a lower pair of compression disks. The second braking component includes an upper compression disk positioned between the upper pair of the first component and a lower compression disk positioned between the lower pair of the first component. The disks of the first component rotate relative to the second component. An actuator is placed between the upper and lower pairs of the first component and compresses the upper and lower compression disks of the second component when activated. This compression generates a braking force proportional to the force sensed by the slave robotic system, providing force feedback to the operator. The system ensures precise and responsive haptic feedback by dynamically adjusting braking forces based on real-time slave system data.
17. The force-reflective robotic system of claim 16 , wherein the master robotic system comprises one of a humanoid robotic assembly, an exoskeleton robotic assembly, and a human-operated robotic assembly.
This invention relates to force-reflective robotic systems designed to provide haptic feedback to a user, enhancing interaction with remote or virtual environments. The system addresses the challenge of enabling precise, real-time force feedback in robotic applications, which is critical for tasks requiring dexterity, such as teleoperation, rehabilitation, or human-machine collaboration. The force-reflective robotic system includes a master robotic system that interfaces with a user and a slave robotic system that interacts with the environment. The master system captures user inputs, such as movements or forces, and transmits them to the slave system, which executes corresponding actions. Simultaneously, the slave system measures environmental forces and relays them back to the master system, which then applies equivalent forces to the user, creating a closed-loop feedback mechanism. The master robotic system can take various forms, including a humanoid robotic assembly, an exoskeleton robotic assembly, or a human-operated robotic assembly. A humanoid assembly mimics human anatomy, allowing natural movement and interaction. An exoskeleton assembly attaches to a user's body, augmenting their strength and providing feedback through direct physical contact. A human-operated assembly may involve a user directly controlling robotic limbs or tools, with force feedback integrated into the control interface. This design ensures that the user experiences realistic tactile sensations, improving control accuracy and immersion in applications like surgical robotics, industrial automation, or virtual reality training. The system's adaptability to different robotic configurations enhances its versatility across diverse use cases.
18. The force-reflective robotic system of claim 16 , wherein the master robotic system comprises at least one of an upper body exoskeleton and a lower body exoskeleton, each comprising a plurality of exoskeleton links rotatably coupled together by one of the master brake joints.
A force-reflective robotic system includes a master robotic system and a slave robotic system, where the master system provides haptic feedback to a user by applying resistive forces through brake joints. The system is designed for applications requiring precise force control, such as teleoperation or rehabilitation robotics, where the user needs to feel resistance corresponding to the slave system's interactions with its environment. The master robotic system can be an upper body exoskeleton, a lower body exoskeleton, or both, with each exoskeleton consisting of multiple rigid links connected by brake joints. These joints allow controlled rotational movement and can apply variable resistance to simulate forces encountered by the slave system. The exoskeleton's design enables the user to experience realistic force feedback, enhancing control and situational awareness in tasks like remote manipulation or physical therapy. The system ensures that the user's movements are accurately translated to the slave system while receiving proportional resistive forces, improving interaction fidelity. This configuration supports applications requiring full-body force feedback, such as industrial teleoperation or medical rehabilitation, where both upper and lower limb movements are critical.
19. The force-reflective robotic system of claim 16 , wherein the master robotic system comprises a controller configured to control each of the master brake joints, the controller comprising a computer configured to dynamically control the braking force associated with each master brake joint.
A force-reflective robotic system includes a master robotic system and a slave robotic system, where the master system is designed to provide haptic feedback to an operator. The master system includes multiple master brake joints that can apply variable braking forces to resist movement, simulating resistance encountered by the slave system. The braking force at each joint is dynamically adjustable to create realistic force feedback. A controller within the master system, equipped with a computer, regulates the braking force for each joint in real time. This dynamic control allows the system to simulate different environmental conditions or task requirements, enhancing the operator's ability to perceive and interact with the remote environment. The system is particularly useful in applications like teleoperation, where precise force feedback is critical for tasks such as surgical procedures, industrial manipulation, or hazardous material handling. The adjustable braking forces enable the master system to mimic the physical constraints and forces experienced by the slave system, improving operator control and situational awareness. The computer-based controller ensures that the braking forces are synchronized with the slave system's movements, providing accurate and responsive feedback. This technology addresses the challenge of providing realistic haptic feedback in robotic systems, which is essential for improving operator performance and safety in remote or automated tasks.
20. The force-reflective robotic system of claim 16 , wherein each slave joint comprises one or more sensors configured to provide position data, velocity data, force data or both position and force data associated with the slave joint.
A force-reflective robotic system includes a master device and a slave device connected via a communication link. The master device has one or more master joints, each with sensors to detect position, velocity, or force data. The slave device has one or more slave joints, each equipped with sensors to provide position, velocity, force, or a combination of position and force data. The system transmits data between the master and slave devices to enable force-reflective control, where forces experienced by the slave device are mirrored to the operator via the master device. This allows the operator to feel resistance or feedback from the slave device in real time, enhancing precision and control in tasks such as remote manipulation or teleoperation. The sensors in the slave joints ensure accurate measurement of joint movements and applied forces, enabling the system to provide realistic haptic feedback. This technology is particularly useful in applications requiring remote operation, such as surgical robots, industrial automation, or hazardous environment exploration, where force feedback improves user interaction and task performance.
21. The force-reflective robotic system of claim 16 , wherein the actuator is dynamically controllable by the master robotic system and comprises a bi-directional actuator, a dielectric actuator, a piezoelectric actuator, a cam actuator, a ball ramp actuator, an electromagnetic actuator, a pneumatic actuator, or a hydraulic actuator.
This invention relates to force-reflective robotic systems, which are used to provide haptic feedback in teleoperated or collaborative robotic applications. The system addresses the challenge of enabling precise and responsive force feedback between a master robotic system and a slave robotic system, ensuring that the operator can feel resistance or forces encountered by the slave robot in real time. The system includes a master robotic system that captures user input and a slave robotic system that executes tasks, with a force-reflective mechanism ensuring bidirectional communication of forces. The actuator in the system is dynamically controllable by the master robotic system and can be implemented using various types of actuators, including bi-directional actuators, dielectric actuators, piezoelectric actuators, cam actuators, ball ramp actuators, electromagnetic actuators, pneumatic actuators, or hydraulic actuators. These actuators allow for fine-tuned force feedback, enhancing the operator's ability to perceive and respond to environmental interactions. The system improves the accuracy and intuitiveness of robotic control, particularly in applications requiring delicate manipulation or remote operation.
22. The force-reflective robotic system of claim 16 , wherein the multiple disks are configured to rotate relative to one another about an axis of rotation of the respective master brake joint.
A force-reflective robotic system includes multiple disks that rotate relative to one another about an axis of rotation of a master brake joint. The system is designed for applications requiring precise force feedback, such as teleoperated robotic systems where the operator needs to feel resistance or forces exerted by the robot. The disks are part of a mechanical assembly that allows controlled movement while maintaining force reflection, ensuring that the operator experiences realistic tactile feedback. The system may include sensors to measure forces and positions, enabling real-time adjustments to simulate resistance or other mechanical interactions. The disks are arranged to allow relative rotation, which can be used to adjust the system's stiffness or damping characteristics dynamically. This configuration enhances the system's ability to provide accurate force feedback, improving operator control and responsiveness in tasks requiring fine motor skills or interaction with remote environments. The system may also include additional components, such as actuators or control mechanisms, to further refine the force-reflective behavior. The overall design ensures that the operator receives precise and reliable feedback, improving the performance of teleoperated or robotic systems in various applications.
23. A method of translating a force of a slave robotic system to a master robotic system, wherein the master robotic system comprises a master brake joint corresponding to a slave joint of the slave robotic system, the method comprising: transmitting a force data signal from the slave robotic system to the master robotic system; and generating a braking force within the master brake joint corresponding to the force data signal, wherein the master brake joint comprises a first braking component, a second braking component, and an actuator, the first braking component comprising a pair of upper compression disks and a pair of lower compression disks, the second braking component comprising an upper compression disk situated between the pair of upper compression disks, and a lower compression disk situated between the pair of lower compression disks, the disks of the first braking component being rotatable relative to the disks of the second braking component, and wherein the actuator is disposed between the pair of upper and lower compression disks of the first braking component, and configured to generate the braking force by compressing each of the upper and lower compression disks of the second braking component.
This invention relates to robotic systems, specifically methods for translating force feedback from a slave robotic system to a master robotic system. The problem addressed is providing realistic haptic feedback to an operator controlling a remote robotic system, ensuring precise force translation for improved control and user experience. The method involves transmitting force data from the slave robotic system to the master system, where a master brake joint generates a corresponding braking force. The master brake joint includes two braking components: a first component with two upper and two lower compression disks, and a second component with a single upper and lower disk positioned between the first component's disks. The disks of the first component rotate relative to the second component's disks. An actuator, positioned between the first component's disks, compresses the second component's disks to generate the braking force, simulating the resistance felt by the slave system. This design allows for adjustable and precise force feedback, enhancing the operator's ability to perceive and respond to remote robotic interactions.
24. The method of claim 23 , further comprising dynamically controlling the braking force to provide varying magnitudes of braking force.
A system and method for dynamically controlling braking force in a vehicle to provide varying magnitudes of braking force during operation. The invention addresses the need for precise and adaptive braking control to enhance vehicle stability, safety, and performance. The method involves monitoring vehicle dynamics, such as speed, acceleration, and wheel slip, and adjusting the braking force in real-time based on these parameters. By dynamically modulating the braking force, the system can respond to changing road conditions, driver inputs, and vehicle states to optimize braking performance. This includes scenarios where partial or full braking is required, such as during emergency stops, cornering, or traction control. The system may integrate with existing braking mechanisms, such as hydraulic or electronic braking systems, to apply the controlled braking force to one or more wheels. The dynamic control ensures that the braking force is neither too aggressive (risking wheel lockup) nor too weak (reducing stopping efficiency), thereby improving overall vehicle handling and safety. The invention is particularly useful in automotive applications where adaptive braking is critical for maintaining control in varying driving conditions.
25. The method of claim 24 , wherein generating the braking force comprises controlling the actuator of the master brake joint to generate the braking force.
This invention relates to a braking system for a robotic or mechanical joint, specifically addressing the challenge of precisely controlling braking forces to ensure stability and safety during operation. The system includes a master brake joint with an actuator designed to generate a braking force when needed. The braking force is applied to the joint to restrict or halt movement, preventing unintended motion or damage. The actuator is controlled to adjust the braking force dynamically, allowing for fine-tuned braking responses based on operational conditions. This ensures that the joint can stop or slow down smoothly and accurately, enhancing safety and performance. The system may also include sensors or feedback mechanisms to monitor joint movement and adjust the braking force accordingly. The invention is particularly useful in applications where precise control of mechanical joints is critical, such as in industrial robotics, automated machinery, or other systems requiring reliable braking mechanisms.
26. The method of claim 25 , further comprises sensing one or both of a position and a force of the slave joint to obtain force data to be transmitted to the master robotic system.
This invention relates to robotic systems, specifically master-slave robotic systems where a master robotic system controls a slave robotic system. The problem addressed is the lack of feedback from the slave system to the master, which can reduce precision and user control. The invention improves this by incorporating sensing capabilities in the slave robotic system to detect the position and force of its joints. This data is then transmitted back to the master robotic system, providing real-time feedback. The master system can use this information to adjust its movements, enhancing accuracy and responsiveness. The sensing of joint position allows the master to track the slave's exact configuration, while force sensing enables the master to detect resistance or external forces acting on the slave. This bidirectional communication improves the overall performance of the robotic system, making it more precise and adaptable to dynamic environments. The invention is particularly useful in applications requiring high precision, such as medical robotics, industrial automation, or remote manipulation tasks.
27. The method of claim 25 , further comprises sensing one or both of a position and a force of the master brake joint.
A system and method for controlling a master brake joint in a vehicle braking system addresses the need for precise and responsive brake actuation. The invention involves monitoring the position and force exerted by the master brake joint to improve braking performance and safety. By sensing these parameters, the system can detect and respond to changes in brake pedal input, ensuring accurate brake application and reducing the risk of unintended braking or loss of control. The method integrates with a broader braking control system that adjusts brake pressure based on driver input and vehicle dynamics. The position sensing determines the displacement of the brake joint, while force sensing measures the applied pressure. These measurements are used to refine brake response, enhance stability, and prevent excessive wear. The invention is particularly useful in vehicles requiring high-precision braking, such as those with advanced driver-assistance systems or autonomous driving capabilities. By continuously monitoring the master brake joint, the system ensures optimal brake performance under varying conditions, improving overall vehicle safety and efficiency.
28. The method of claim 26 , further comprising receiving the transmitted force data at the master robotic system via a computer system, wherein the force data is processed and a corresponding braking force generated within the master robotic system.
This invention relates to robotic systems, specifically master-slave robotic systems where a master robotic system controls a slave robotic system. The problem addressed is the lack of force feedback in such systems, which can lead to imprecise control and reduced user experience. The invention improves upon prior art by incorporating force feedback mechanisms to enhance control accuracy and user interaction. The method involves transmitting force data from a slave robotic system to a master robotic system. The force data represents physical interactions experienced by the slave system, such as resistance or contact forces. Upon receiving this data, the master system processes it using a computer system to generate a corresponding braking force. This braking force is applied within the master system to provide haptic feedback to the operator, simulating the resistance or contact felt by the slave system. This feedback loop allows the operator to perceive and respond to forces encountered by the slave system in real time, improving control precision and user experience. The method may also include additional steps such as adjusting the braking force based on the force data, ensuring the feedback is proportional to the actual forces experienced. The system may further include sensors on the slave system to detect forces and transmit them to the master system. The computer system processes the data to convert it into a control signal for generating the braking force. This invention enhances teleoperation and remote manipulation tasks by providing realistic force feedback, making the system more intuitive and responsive.
29. A master robotic system for translating a force at a slave robotic system to the master robotic system, comprising: a plurality of robotic links; and a plurality of master brake joints rotatably coupling the plurality of robotic links, each master brake joint corresponding to a respective slave joint of a slave robotic system controllable by the master robotic system, wherein each master brake joint comprises: a first braking component coupled to a first robotic link of the plurality of robotic links, the first braking component comprising a pair of upper compression disks and a pair of lower compression disks; a second braking component, the second braking component comprising an upper compression disk disposed between the pair of upper compression disks and a lower compression disk disposed between the pair of lower compression disks coupled to a second robotic link of the plurality of robotic links, wherein the second braking component is configured to rotate relative to the first braking component; and an actuator disposed between the pair of upper compression disks and the pair of lower compression disks and configured to act upon the first braking component and the second braking component, to generate a braking force between the first braking component and the second braking component, in response to a control signal corresponding to a force sensed by the slave robotic system.
This invention relates to robotic systems, specifically a master robotic system designed to translate forces experienced by a slave robotic system back to the master system for haptic feedback. The problem addressed is the need for precise and responsive force feedback in teleoperated robotic systems, where the operator must feel the forces encountered by the remote slave robot to improve control and precision. The master robotic system includes multiple robotic links connected by brake joints, each corresponding to a joint in the slave robotic system. Each brake joint consists of two braking components: a first component fixed to one robotic link and a second component fixed to an adjacent link, allowing relative rotation. The first braking component has two upper and two lower compression disks, while the second component has an upper disk positioned between the first component's upper disks and a lower disk between the first component's lower disks. An actuator is placed between the upper and lower disk pairs and applies force to generate braking resistance between the two components. This resistance simulates the forces detected by the slave robot, providing tactile feedback to the operator. The actuator adjusts the braking force based on control signals derived from force sensors in the slave system, ensuring real-time feedback. This design enables precise force translation, enhancing operator control in teleoperation tasks.
30. The master robotic system of claim 29 , wherein the braking force is variable.
A master robotic system is designed to control the movement of a slave robotic system, particularly in applications requiring precise and safe manipulation, such as surgical or industrial robotics. The system addresses the challenge of ensuring smooth and controlled motion while preventing unintended movements or collisions. The master robotic system includes a master robotic arm that a user operates to guide the slave robotic system. The system incorporates a braking mechanism that applies a braking force to the master robotic arm to enhance stability and safety during operation. The braking force is variable, allowing the system to adjust the resistance applied to the master robotic arm based on operational conditions, user input, or environmental factors. This variability enables finer control over the master robotic arm's movement, improving precision and reducing the risk of errors or accidents. The braking mechanism may be integrated into the joints or actuators of the master robotic arm, and the system may include sensors or feedback mechanisms to dynamically adjust the braking force in real time. The variable braking force ensures that the master robotic system can adapt to different tasks, user preferences, or safety requirements, making it suitable for a wide range of applications.
31. The master robotic system of claim 29 , wherein the braking force has only a first magnitude.
The invention relates to a master robotic system designed to control a slave robotic system, focusing on improving the braking mechanism for enhanced safety and precision. The system addresses the problem of inconsistent or inadequate braking forces in robotic systems, which can lead to collisions or damage. The master robotic system includes a braking mechanism that applies a braking force to the slave robotic system, ensuring controlled and predictable stopping. The braking force is characterized by having only a single, fixed magnitude, eliminating variability in deceleration. This ensures that the braking force is consistent and reliable, reducing the risk of unintended movements or collisions. The system may also include a force sensor to detect external forces acting on the slave robotic system, allowing the master system to adjust its control accordingly. The braking mechanism is integrated into the master robotic system to provide direct and immediate control over the slave system's motion. This design enhances safety by preventing excessive or insufficient braking, ensuring smooth and predictable operation in robotic applications.
32. The master robotic system of claim 29 , wherein a magnitude of the braking force is variable, and a proportionality of the braking force to the sensed force is dynamically controllable.
This invention relates to a master robotic system designed to enhance control and responsiveness in robotic operations, particularly in applications requiring precise force feedback. The system addresses the challenge of achieving accurate and adaptive force control in robotic manipulation tasks, where traditional fixed-force braking mechanisms may lack the flexibility needed for dynamic environments. The master robotic system includes a braking mechanism that applies a braking force to a robotic component, such as an arm or end effector, to regulate its movement. A key feature is the ability to vary the magnitude of the braking force, allowing the system to adjust based on operational demands. Additionally, the braking force is proportional to a sensed force, meaning the system can dynamically adjust the braking response in real-time to maintain stability and precision. This proportionality is dynamically controllable, enabling the system to adapt to changing conditions, such as varying loads or environmental factors, without manual intervention. The dynamic control ensures that the braking force remains optimized for the task, improving efficiency and safety in robotic operations. This adaptive braking mechanism enhances the system's ability to perform complex tasks with high accuracy and responsiveness.
33. The master robotic system of claim 29 , wherein the actuator comprises a bi-directional actuator having a motor and an actuation member, wherein the motor is configured to rotate the actuation member to apply a bi-directional force to at least one of the first braking component or the second braking component to generate the braking force.
This invention relates to a master robotic system designed for precise control of braking mechanisms, particularly in robotic or automated systems requiring dynamic braking adjustments. The system addresses the challenge of achieving accurate and responsive braking forces in robotic applications, where traditional braking methods may lack the necessary precision or adaptability. The master robotic system includes a braking mechanism with at least two braking components that interact to generate a braking force. The system further incorporates an actuator, specifically a bi-directional actuator, which consists of a motor and an actuation member. The motor is configured to rotate the actuation member, which in turn applies a bi-directional force to at least one of the braking components. This bi-directional force generation allows for controlled application of braking force in both directions, enhancing the system's ability to modulate braking with high precision. The actuator's design ensures that the braking force can be dynamically adjusted based on operational requirements, improving the system's responsiveness and control in various robotic applications. This approach is particularly useful in environments where braking must be finely tuned, such as in industrial automation, robotic arms, or autonomous vehicles.
34. The master robotic system of claim 29 , wherein the actuator comprises at least one of: a dielectric actuator configured to generate the braking force, wherein the dielectric actuator comprises a dielectric material disposed between a pair of electrodes coupled to a voltage source; a piezoelectric actuator configured to generate the braking force, wherein the piezoelectric actuator comprises a stack of piezoelectric components configured to be coupled to a voltage source configured to displace the stack of piezoelectric components; or a hydraulic actuator configured to generate the braking force, wherein the hydraulic actuator comprises a hydraulic actuation component and at least one hydraulic piston fluidly coupled to the hydraulic actuation component, wherein the hydraulic actuation component is positioned distally from the at least one hydraulic piston and is configured to actuate the at least one hydraulic piston to generate the braking force.
Robotic systems often require precise and reliable braking mechanisms to control movement and ensure safety. Traditional braking systems may lack the responsiveness or compactness needed for advanced robotic applications. This invention addresses these limitations by providing a master robotic system with an improved actuator for generating braking forces. The actuator can be implemented in multiple configurations, including dielectric, piezoelectric, or hydraulic designs. In the dielectric actuator configuration, a dielectric material is positioned between a pair of electrodes connected to a voltage source. When voltage is applied, the dielectric material deforms, generating the required braking force. This approach offers high precision and rapid response times, making it suitable for applications requiring fine control. Alternatively, the actuator may use a piezoelectric design, consisting of a stack of piezoelectric components coupled to a voltage source. When voltage is applied, the stack displaces, producing the braking force. This method provides excellent repeatability and compactness, ideal for space-constrained robotic systems. Another option is a hydraulic actuator, which includes a hydraulic actuation component and at least one hydraulic piston fluidly coupled to it. The actuation component is positioned distally from the piston and actuates it to generate the braking force. This design allows for high force output and scalability, suitable for heavy-duty robotic applications. The system ensures reliable braking performance across various robotic configurations.
35. The master robotic system of claim 29 , wherein the first braking component comprises a pair of upper compression disks and a pair of lower compression disks, and wherein the second braking component comprises an upper compression disk situated between the pair of upper compression disks, and a lower compression disk situated between the pair of lower compression disks, the disks of the first braking component being configured to rotate relative to the disks of the second braking component, and wherein the actuator is disposed between the pairs of upper and lower compression disks of the first braking component, and configured to act on these to compress each of the upper and lower compression disks of the second braking component to generate the braking force.
This invention relates to a master robotic system designed for precise braking control in robotic mechanisms. The system addresses the need for reliable and adjustable braking forces in robotic applications, particularly where safety and precision are critical. The braking mechanism employs two sets of compression disks to generate braking force. The first braking component includes a pair of upper compression disks and a pair of lower compression disks. The second braking component consists of an upper compression disk positioned between the upper pair and a lower compression disk positioned between the lower pair. The disks of the first component rotate relative to those of the second component. An actuator is placed between the pairs of upper and lower disks in the first component. When activated, the actuator compresses the disks of the second component, creating friction between the rotating and stationary disks to produce the desired braking force. This design allows for controlled and adjustable braking, ensuring smooth and safe operation in robotic systems. The system is particularly useful in applications requiring precise motion control, such as industrial automation, robotics, and automated machinery.
36. The master robotic system of claim 35 , wherein the actuator comprises a first biasing component and an opposing second biasing component, the first biasing component selectively biasing an inner disk of the pair of upper compression disks and the second biasing component selectively biasing an opposing inner disk of the pair of lower compression disks.
This invention relates to a master robotic system designed for precise control of robotic movements, particularly in applications requiring high-precision actuation. The system addresses the challenge of achieving accurate and stable robotic motion by incorporating an actuator with dual biasing components. The actuator includes a pair of upper compression disks and a pair of lower compression disks, each pair having an inner disk. The first biasing component selectively biases the inner disk of the upper compression disks, while the second biasing component opposes this by selectively biasing the inner disk of the lower compression disks. This dual-biasing mechanism ensures balanced and controlled movement, preventing unintended deviations and enhancing the system's responsiveness. The biasing components can be adjusted independently to fine-tune the actuator's performance, allowing for adaptive control in dynamic environments. The system is particularly useful in industrial automation, medical robotics, and other fields where precise and reliable robotic manipulation is critical. The invention improves upon existing robotic systems by providing a more stable and adjustable actuation method, reducing errors and increasing efficiency in robotic operations.
37. The master robotic system of claim 29 , wherein the actuator comprises a cam member fixedly attached to an actuator shaft, the cam member comprising a cam having an eccentric configuration configured to convert rotational motion in the cam member to translation motion within the first braking component and the second braking component, thereby compressing the first braking component and the second braking component together.
A robotic system includes a master robotic system with an actuator mechanism designed to control braking components. The actuator comprises a cam member fixedly attached to an actuator shaft. The cam member includes a cam with an eccentric configuration, meaning its center of rotation is offset from its geometric center. When the actuator shaft rotates, the eccentric cam converts this rotational motion into translational motion within the braking components. This motion compresses a first braking component and a second braking component together, applying a braking force. The system is likely used in robotic applications where precise control of braking is required, such as in robotic arms or automated machinery, to ensure safe and efficient operation. The eccentric cam design allows for smooth and controlled compression of the braking components, enhancing the system's reliability and performance.
38. The master robotic system of claim 29 , wherein the master robotic system comprises one of a humanoid robotic assembly, an exoskeleton robotic assembly, and a human-operated robotic assembly.
This invention relates to a master robotic system designed for human-robot interaction, addressing the need for versatile robotic platforms that can adapt to different operational environments and user requirements. The system includes a master robotic assembly that interfaces with a slave robotic assembly, enabling remote or assisted control of robotic tasks. The master robotic system is configured to operate in various forms, including a humanoid robotic assembly, an exoskeleton robotic assembly, or a human-operated robotic assembly. The humanoid robotic assembly mimics human movements and can perform tasks requiring dexterity and mobility. The exoskeleton robotic assembly is worn by a human operator, enhancing physical capabilities and providing support for tasks requiring strength or endurance. The human-operated robotic assembly integrates with a human operator, allowing direct control of robotic functions through physical interaction. The system ensures seamless coordination between the master and slave robotic assemblies, improving efficiency and precision in robotic operations. This adaptability makes the system suitable for applications in industrial automation, medical assistance, and hazardous environment operations.
39. The master robotic system of claim 29 , wherein the master robotic system comprises a controller configured to control each of the master brake joints, the controller comprising a computer configured to dynamically control the braking force associated with each master brake joint.
This invention relates to a master robotic system designed for precise control of robotic movements, particularly in applications requiring high accuracy and responsiveness, such as industrial automation or medical robotics. The system addresses the challenge of maintaining stable and controlled motion in robotic joints, which is critical for tasks requiring fine manipulation or safety-critical operations. The master robotic system includes multiple master brake joints, each capable of applying a braking force to restrict or enable movement in specific directions. A controller integrated into the system dynamically adjusts the braking force for each joint based on real-time operational requirements. The controller uses a computer to process input data and calculate optimal braking forces, ensuring smooth and precise motion control. This dynamic adjustment allows the system to adapt to varying loads, environmental conditions, or task demands, enhancing overall performance and safety. The system may also incorporate feedback mechanisms to monitor joint positions, velocities, or applied forces, enabling closed-loop control for improved accuracy. By dynamically regulating braking forces, the system prevents unwanted movements, reduces energy consumption, and ensures reliable operation in complex robotic applications. This approach is particularly useful in environments where precise control and adaptability are essential, such as in surgical robots, industrial manipulators, or collaborative robots working alongside humans.
40. The master robotic system of claim 29 , wherein the master robotic system is associated with at least one of: a hand; an arm; an arm and hand; an arm and torso; an arm and a hand and a torso; a leg; legs; legs and a torso; legs and arms and a torso; legs and arms; or a torso and hands; or any combination thereof.
This invention relates to a master robotic system designed for human-machine interaction, addressing the need for precise and intuitive control of robotic limbs or devices. The system is configured to interface with various human body parts, enabling seamless integration and operation. Specifically, the master robotic system can be associated with one or more of the following: a hand, an arm, an arm and hand, an arm and torso, an arm, hand, and torso, a leg, legs, legs and torso, legs and arms, legs and arms and torso, or a torso and hands. This modular design allows the system to adapt to different configurations, supporting tasks that require coordination between multiple body parts. The system enhances user control by mapping human movements to robotic actions, improving efficiency and accuracy in applications such as rehabilitation, industrial automation, or assistive robotics. The flexible association with different body parts ensures versatility, making it suitable for various use cases where precise and responsive robotic control is required.
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November 24, 2020
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